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In the previous post, I talked about the Tan Kah Kee Young Inventor’s Award (TKKYIA). In this post, I will be talking about what are my detailed plans for the personal transporter.
The motors are from a car windshield wiper which was also used previously on another personal transporter. It has a gearbox to give it some torque while sacrificing speed, which is not really what is needed. Its fairly heavy, so this will ensure stability.
A motor driver will be used to drive those motors using PWM. The PWM speed is regulated by the motor shield which receives serial commands via a Rx line from the arduino. This particular model is the Sabertooth 2X25. It can drive up to 25A per channel, but we only need about 800mA – 1.5A, so at normal operation, the currents are way lower than its limit.
Right now I’m just testing different android apps that send char characters to the bluetooth module and using the serial monitor to see the output. Originally I wanted it to be accelerometer controlled, but the app I found doesn’t really work on newer versions of android. There was another app of which I can customise every slider and button on the phone side. However, it is a paid app so in free mode I could only use it for 10 secs. The link to app can be accessed here.
The other apps only send a ‘f’ for forward, ‘b’ for backward and so on. There are predefined in the app so in the arduino sketch I have to match those commands. They also support moving forward while turning slightly. (8 directions of movement). Most likely I will use this method.
The wood panel used is plywood and I had it cut to 40cm X 45cm. I gave some extra tolerance so that I don’t have to recut in case everything doesn’t fit. I can cut the wood to the smallest possible size later on.
The battery is rather large, so I have to see how it fits into the transporter. I have not gotten it yet, so I did not drill holes for the motor mounts. Currently I have 2 possible layouts as shown below, if the battery is really large, I would have to place it in between the motors.
The motors have a M8 standard holes, so what I’ll do is screw them in from the top of the wood panel.